Verification of Explicit Model Predictive Control Through Double-Lane-Change Maneuver

• Published in: Proceedings of the IEEE International Symposium on Industrial Electronics (Online) pp. 290 - 295
• Main Authors: Junho Lee, Hyuk-Jun Chang
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.06.2018
• Subjects: Autonomous vehicles; Computational complexity; Computational modeling; constrained optimization; double lane change; explicit model predictive control; Mathematical model; Microcontrollers; Model predictive control; multi-parametric quadratic programming; Optimization; Predictive control

In this paper, we analyze and verify explicit model predictive control (MPC) through the automated double-lane-change (DLC) maneuver by employing MATLAB/Simulink and CarSim. MPC has become a useful optimization method because it can anticipate future events of a system and fulfill constraints on sta...